WALS: A sensor-based robotic system for handling nuclear materials
Journal Article
·
· Transactions of the American Nuclear Society
OSTI ID:552618
- Sandia National Labs., Albuquerque, NM (United States)
An automated system is being developed for handling large payloads of radioactive nuclear materials in an analytical laboratory. The system uses machine vision and force/torque sensing to provide sensor-based control of the automation system to enhance system safety, flexibility, and robustness and achieve easy remote operation. The automation system also controls the operation of the laboratory measurement systems and the coordination of them with the robotic system. Particular attention has been given to system design features and analytical methods that provide an enhanced level of operational safety. Independent mechanical gripper interlock and too release mechanisms were designed to prevent payload mishandling. An extensive failure modes and effects analysis (FMEA) of the automation system was developed as a safety design analysis tool.
- OSTI ID:
- 552618
- Report Number(s):
- CONF-971125--
- Journal Information:
- Transactions of the American Nuclear Society, Journal Name: Transactions of the American Nuclear Society Vol. 77; ISSN 0003-018X; ISSN TANSAO
- Country of Publication:
- United States
- Language:
- English
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